KR101390399B1 - Foldable vehicle and method of controlling the same - Google Patents

Abstract

The present invention relates to a vehicle comprising: a first frame on which a front wheel is mounted; A rear wheel is mounted, and includes a second frame coupled to the first frame and a hinge structure, and provides a folding vehicle for moving at least one of the first and second frames to a folded or expanded state.

Description

Folding vehicle and method of controlling same

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle, and more particularly, to a foldable vehicle and its control method capable of reducing a space occupied by a vehicle by applying a folding structure.

Not long ago, leading automobile manufacturers competed to produce large vehicles, and customers also preferred it.

However, as fuel prices surged, customers became interested in fuel-efficient small vehicles, and in response to this demand, automakers also produced small vehicles.

However, the number of vehicles is increasing exponentially, and parking disturbances are becoming serious. In particular, in urban areas such as Seoul, parking spaces are absolutely insufficient for the number of vehicles.

In order to solve this problem, the lack of parking spaces is still continuing, even though policies such as 10 vehicles or activation of light vehicles are being implemented. Therefore, a more fundamental solution is currently urgent.

A problem to be solved by the present invention is to provide a solution that can fundamentally solve the problem of insufficient parking space.

In order to achieve the above-described object, the present invention provides a vehicle comprising: a first frame on which a front wheel is mounted; A rear wheel is mounted, and includes a second frame coupled to the first frame and a hinge structure, and provides a folding vehicle for moving at least one of the first and second frames to a folded or expanded state.

Here, the in-wheel motor may be mounted on at least one of the front wheel and the rear wheel to drive at least one of the front wheel and the rear wheel.

The first and second frames may be connected to each other, and may include an actuator having a piston rod configured to perform a contraction / expansion operation.

It is configured on the top of one of the first and second frame, it may include a bump to prevent the first and second frame is folded downward.

A locking pin mounted to one of the first and second frames; It is configured in the other one of the first and second frame, it may include a locking hole in which the locking pin is inserted.

And a controller for controlling movement of at least one of the first and second frames according to a collapse command or a push-up command transmitted from the remote controller.

And a camera sensor for collecting surrounding situation information of the folding type vehicle and transmitting the collected information to the control unit.

In another aspect, the present invention, in the control method of the folding vehicle, the front wheel and the rear wheel is mounted and the hinged structure coupled to the first and the second frame coupled to each other to move closer to each other so that the folding vehicle has a folded state and ; The first and second frames are moved away from each other to provide a folding vehicle control method comprising the step of having the folding vehicle in an unfolded state.

The control unit of the folding vehicle may include controlling the folding vehicle to have a folded state or an unfolded state in response to a folding command or an unfolding command.

Wherein the control unit determines whether a space for performing the folding command or the unfolding command is secured based on the received peripheral information, And if it is determined that the space is secured, the control operation corresponding to the folding command or the unfolding command can be performed.

The folding command or the unfolding command may be transmitted from the remote controller.

And transmitting an error message to the remote controller when the state of the folding vehicle is in a folded state in the folding command and when the state of the folding vehicle is in an unfolding state in the unfolding command.

By using an in-wheel motor mounted to at least one of the front wheel and the rear wheel, the folding vehicle can be in a folded state or an unfolded state.

By using an actuator having a piston rod that connects the first and second frames and performs a contraction / expansion operation, the foldable vehicle may be folded or unfolded.

The vehicle according to the present invention has a folding structure using a hinge structure. As a result, the vehicle can be folded or unfolded in some cases, so that the area occupied by the vehicle can be adjusted. Therefore, as the area occupied by the vehicle during parking is reduced, the efficiency of the parking space can be maximized.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view schematically showing a folding vehicle according to an embodiment of the present invention; Fig.
2 is a schematic illustration of a folding structure according to an embodiment of the present invention;
3 is an enlarged view of a portion 'A' in FIG. 2;
4 to 6 are views schematically showing a state in which a wheel base is adjusted by driving rear wheels, front wheels, rear wheels and front wheels, respectively, according to an embodiment of the present invention.
FIG. 7 is a view schematically showing a state in which a wheel base is adjusted by driving an actuator according to an embodiment of the present invention; FIG.
8 is a view schematically showing a folding type vehicle and a remote controller according to an embodiment of the present invention.
9 is a view schematically showing a GUI of a remote controller according to an embodiment of the present invention.
10 is a flow chart schematically illustrating a method of controlling a folding vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The present invention proposes a so-called foldable vehicle that can reduce the area occupied by the vehicle by applying a foldable structure as a solution to solve the insufficient parking space problem. The folding vehicle according to the present invention has a normal wheelbase state when driving by applying a folding / unfolding operation, and reduces the wheelbase when parking. With this operation, the area occupied by the vehicle can be adjusted according to the vehicle condition. Therefore, since the required parking space is reduced, the efficiency of the parking space can be maximized.

Hereinafter, an embodiment of the folding vehicle according to the present invention will be described in detail.

FIG. 1 is a view schematically showing a folding type vehicle according to an embodiment of the present invention. FIG. 2 is a view schematically showing a folding structure according to an embodiment of the present invention. &Quot;.

1 to 3, a folding vehicle 100 according to an embodiment of the present invention may include a body 110, a wheel 120, and first and second frames 130 and 140.

The vehicle body 110 is a main constituent of the skeleton of the vehicle, and an interior space for the user to ride the vehicle body 110 is provided therein.

The wheel 120 corresponds to a configuration for rotating the vehicle to move the vehicle. The wheel 120 includes a front wheel 120a located at the front of the vehicle and a rear wheel 120b located at the rear of the vehicle.

The first frame 130 is configured such that the front wheel 120a is mounted. The first frame 130 may be located below the vehicle body 110 and may be integrally formed with the vehicle body 110a. Meanwhile, the first frame 130 may be manufactured separately from the vehicle body 110 and coupled to the vehicle body 110 to be fixed.

And the second frame 140 is configured such that the rear wheel 120b is mounted. The second frame 140 may be combined with the first frame 130 in a foldable structure. On the other hand, as described above, the case where the first frame 130 and the vehicle body 110 is combined as an example, alternatively, the vehicle body 110 may be configured to be coupled to the second frame 140.

Through the folding structure as described above, it is possible to adjust the area occupied by the vehicle 100 by adjusting the wheel base. Therefore, since the area occupied by the vehicle 100 when parking is reduced, the parking space efficiency can be increased.

As described above, a folding structure capable of increasing parking space efficiency will be described in more detail below.

In implementing the folding structure, the first and second frames 130 and 140 may be combined using, for example, a hinge structure.

In this regard, first hinge holes 131 are formed at both ends of the first frame 130, and second hinge holes corresponding to the first hinge holes 131 are formed at both ends of the second frame 140. 141 may be configured.

The hinge 190 may extend through the first and second hinge holes 131 and 141 and extend along the width direction of the vehicle. Accordingly, the first and second frames 130 and 140 may be connected to each other through the hinge 190.

As such, since the first and second frames 130 and 140 are coupled in a hinge structure, at least one of the first and second frames 120a and 120b may move based on the hinge axis.

In this regard, when at least one of the first and second frames 130 and 140 moves in a direction closer to each other, the wheelbase is reduced and the area occupied by the vehicle 100 is relatively increased while the hinge axis is increased. Will be reduced.

Meanwhile, when at least one of the first and second frames 130 and 140 moves in a direction away from each other, the wheel base is increased and the area occupied by the vehicle 100 is relatively increased while the hinge axis is lowered. .

According to this configuration, when the vehicle 100 is parked, at least one of the first and second frames 130 and 140 is moved in a direction closer to each other to adjust the wheel base to have a minimum distance w2. Accordingly, the vehicle 100 has a folded state in which the area occupied by the vehicle 100 is minimized, so that the efficiency of the parking space can be maximized.

On the other hand, in order to drive the vehicle 100, the wheel base is adjusted to have a normal state. To this end, the wheel base is adjusted to have a maximum distance w1 by moving at least one of the first and second frames 130 and 140 in a direction away from each other. Accordingly, the vehicle 100 has an expanded state in which the area occupied is maximized, that is, a normal state at the time of driving, and thus the vehicle 100 can be normally driven.

Meanwhile, movement of at least one of the first and second frames 130 and 140 as described above can be performed by driving at least one of the front and rear wheels 120a and 120b. In this regard, it will be described in more detail with reference to FIGS. 4 to 6. 4 to 6 are views schematically showing a state in which the wheel base is adjusted by driving rear wheels, front wheels, rear wheels and front wheels, respectively, according to an embodiment of the present invention.

Referring to FIG. 4, when the second frame 140 is moved, the rear wheel 120b mounted on the second frame 140 is driven. For example, when the rear wheel 120b is rotated in the counterclockwise direction, the second frame 140 moves toward the first frame 130 to reduce the wheel base. When the rear wheel 120b is rotated in the clockwise direction, And moves away from the frame 130 to increase the wheel base. In this manner, when the rear wheel 120b is driven to adjust the wheel base, the front wheel 120a is in a locked state, that is, in a rotation stop state.

Next, referring to FIG. 5, when the first frame 130 is moved, the front wheel 120a mounted on the first frame 130 is driven. For example, if the front wheel 120a is rotated in the clockwise direction, the first frame 130 moves toward the second frame 140 to reduce the wheel base. If the front wheel 120a is rotated counterclockwise, And moves away from the frame 140 to increase the wheel base. As described above, in the case of adjusting the wheel base by driving the front wheel 120a, the rear wheel 120b is in a locked state, that is, in a rotation stop state.

6, when all of the first and second frames 130 and 140 are moved, the front and rear wheels 120a and 120b mounted on the first and second frames 130 and 140, respectively, The driving of the front wheel 120a and the driving of the rear wheel 120b described above can be referred to.

As described above, by rotating at least one of the front and rear wheels 120a and 120b, the wheel base can be adjusted by relatively moving the first and second frames 130 and 140 relative to each other.

On the other hand, in performing the folding / unfolding operation or the traveling operation of the folding type vehicle, an in-wheel motor may be mounted to drive the front wheels and the rear wheels 120a and 120b.

In this regard, for example, in the case of a two-wheel drive vehicle, the in-wheel motor is not mounted on the other of the front and rear wheels 120a and 120b. On the other hand, in the case of a four-wheel drive vehicle, an in-wheel motor is mounted on both the front and rear wheels 120a and 120b.

Here, in the case of a two-wheel drive vehicle, a wheel equipped with an in-wheel motor is driven to perform a folding / unfolding operation, and a wheel to which the in-wheel motor is not mounted is locked during the folding / unfolding operation. Such wheel locking can be accomplished, for example, by using an electronic parking brake.

In the case of a four-wheel drive vehicle, since the in-wheel motor is mounted on both of the front and rear wheels 120a and 120b, it is possible to drive one of the front and rear wheels 120a and 120b for the folding / 120a, and 120b. Here, when driving one of the front wheels and the rear wheels 120a and 120b, the wheel is locked by using an electronic parking brake or the like without operating the in-wheel motor for the remaining one.

In the above description, the case where the relative movement of the first and second frames 130 and 140 is made by driving at least one of the front wheels and the rear wheels 120a and 120b has been described as an example.

As another example, the first and second frames 130 and 140 may be moved using an actuator, which will be described in detail with reference to FIG. 7.

Referring to FIG. 7, the actuator 300 is connected to the first and second frames 130 and 140 and extends along the longitudinal direction of the vehicle 100. Here, the piston rod 310, which is expanded / retracted, of the actuator 300 may be directly connected to one of the first and second frames 130 and 140. In an embodiment of the present invention, And the second frame 140 are connected to each other.

At least one such actuator 300 may be provided. In the embodiment of the present invention, for the sake of convenience of explanation, a case where two actuators 300 are symmetrically arranged in the width direction of the vehicle will be exemplified.

In this case, the actuator 300 may be mounted on both left and right sides of the first frame 130, and may be connected to the second frame 140 with the hinge axis interposed therebetween as the left and right folding axes. Here, for example, a tuning controller may be installed so that the actuators 300 mounted on both sides of the first frame 130 may be operated in the same manner, so that the operation may be synchronized.

With respect to the folding operation, the folding operation is performed in such a manner that the second frame 140 is pulled by the linear contraction movement of the piston rod 310 of the actuator 300 mounted on the first frame 130. Here, the actuators 300 mounted on the first frame 130 by the tuning controller operate in synchronism with each other, so that the pulling force is uniformly transmitted to both sides of the second frame 140.

On the other hand, the completion of the folding operation can be confirmed through the use of a limit switch, for example, as a proximity sensor.

In this regard, for example, when the folding operation is performed, the limit switch senses the degree of proximity of the rear wheel 120b mounted on the second frame 140 to the limit switch. As a result of the detection, when the rear wheel 120b is brought close to the limit switch, that is, the folded state, until the folding operation is completed, the limit switch generates a folding completion signal as a signal indicating that the folding is completed. The collision completion signal transmitted from the limit switch is received by the control section (see 160 in FIG. 8) of the vehicle 100. In response to this, the controller 160 transmits a stop command of the actuator operation.

The pushing operation is performed in such a manner that the second frame 140 is pushed out by the linear expansion movement of the piston rod 310 of the actuator 300 mounted on the first frame 130. [ Here, the actuators 300 mounted on the first frame 130 are synchronously operated by the tuning controller, so that the pushing force is uniformly transmitted to both sides of the second frame 140.

On the other hand, completion of the pushing operation can be confirmed through the use of the limit switch as described above.

In this regard, for example, when the unfolding operation is performed, the limit switch detects the degree to which the rear wheel 120b mounted on the second frame 140 is far from the limit switch. As a result of the detection, when the rear wheel 120b moves away from the limit switch to the extent that the unfolding operation is completed, that is, the unfolded state, the limit switch generates a unfolding completion signal as a signal indicating that unfolding is completed. The unfolding completion signal transmitted from the limit switch is received by the control unit 160 of the vehicle 100. In response, the controller 160 transmits an actuator operation stop command.

On the other hand, after the folding vehicle 100 is folded or unfolded, a locking structure may be applied to stably maintain the folded state. In this regard, a description will be given with reference to FIG. 3.

Referring to FIG. 3, in implementing the locking structure of the folding vehicle 100, for example, a locking pin 133 and a locking hole 143 corresponding to each other may be used. In the embodiment of the present invention, for convenience of description, the case in which the locking pin 133 is mounted on the first frame 130 and the locking hole 143 is configured on the second frame 140 will be described as an example. As another example, the locking pin 133 may be mounted on the second frame 140, and the locking hole 143 may be configured on the first frame 130.

The locking pin 133 may be inserted into or released from the locking hole 143 through a linear movement. Meanwhile, the driving of the locking pin 133 may be performed through a lock driving apparatus such as a driving motor or a linear actuator.

When the locking pin 133 is inserted into the locking hole 143, the first and second frames 130 and 140 are locked and their movement is stopped. Accordingly, when the folded state or the unfolded state is completed, by the combination of the locking pin 133 and the locking hole 143, the state can be stably maintained.

Here, it is preferable that a plurality of locking holes 143 are formed, but is not limited thereto. Meanwhile, in the embodiment of the present invention, the case where two are formed is taken as an example. In such a case, the locking hole 143a located in the lower portion is coupled to the locking pin 133 in a state in which the vehicle 100 is opened, so that the expanded state can be maintained. In addition, the locking hole 143b located at the upper portion is coupled to the locking pin 133 in the folded state of the vehicle 100 so that the folded state can be maintained.

On the other hand, in the case of performing the folding / unfolding operation using the actuator 300 described above, it has been described that the limit switch is used, for example, as a proximity sensor in connection with completion of the operation. May function to control the lock operation described above. Such a limit switch can be mounted at various positions of the vehicle 100. For convenience of explanation, a case where the limit switch is constituted on the hinge axis is taken as an example.

In this regard, when the folding operation is completed, the folding completion signal is transmitted from the limit switch to the controller 160, and the controller 160 controls the actuator 300 or the wheel 120 to stop the operation. In response to this, in response to the folding completion signal, the controller 160 can control the lock pin 133 to be inserted into the lock hole 143.

Similarly, when the unfolding operation is completed, the unfolding completion signal is transmitted from the limit switch to the controller 160, and the controller 160 controls the actuator 300 or the wheel 120 to stop the operation. In addition, in response to the unfolding completion signal, the controller 160 can control the lock pin 133 to be inserted into the lock hole 143.

On the other hand, the vehicle 100 according to an embodiment of the present invention, may be provided with a jaw 135 to prevent the first and second frames 130, 140 are folded downward.

Such a bump 135 may be configured in one of the first and second frames 130 and 140. For convenience of description, the case where the bump 135 is configured in the first frame 130 will be described as an example.

In such a case, the prevention jaw 135 may be configured to protrude toward the inside of the vehicle along the width direction of the vehicle 100 on the top of the first frame 130. Accordingly, even when the second frame 140 tries to move upwardly based on the hinge axis in the unfolded state, the upper end of the second frame 140 is caught by the bump 135, and thus the movement thereof is prevented. Accordingly, it is possible to prevent the situation in which the first and second frames 130 and 140 are unintentionally folded downward, thereby ensuring the stability of the vehicle 100.

As described above, the vehicle according to the embodiment of the present invention is configured of a folding structure using a hinge structure. As a result, the vehicle can be folded or unfolded in some cases, so that the area occupied by the vehicle can be adjusted. Therefore, the area occupied by the vehicle at the time of parking can be reduced, so that the efficiency of the parking space can be maximized.

Meanwhile, the control of the foldable vehicle in the above-described embodiment may be performed by the user operating a folding / unfolding button or the like provided in the vehicle in the vehicle riding state.

As another example, in terms of user convenience and stability, the user can control the vehicle by operating the remote controller in the getting off state, which will be described in more detail below.

FIG. 8 is a view schematically showing a folding type vehicle and a remote controller according to an embodiment of the present invention, FIG. 9 is a view schematically showing a GUI of a remote controller according to an embodiment of the present invention, Fig. 3 is a flowchart schematically showing a method of controlling a folding vehicle according to an embodiment of the present invention.

Referring to FIG. 8, a remote controller 200 corresponds to a configuration for controlling the vehicle 100 wirelessly. Such a remote controller 200 and the folding vehicle 100 can constitute a folding vehicle system.

As the remote controller 200, a smart device such as a remote key for a vehicle or a smart phone may be used. In the embodiment of the present invention, for convenience of description, a case where a smart device having a display screen is used as the remote controller 200 will be described as an example.

The remote controller 200 may be configured with a first communication unit 210 capable of wireless communication with the folding vehicle 100. The communication unit 210 of the remote controller 200 or the first communication unit 210 can transmit a fold instruction signal or an unfold instruction signal to the folding vehicle 100 . Meanwhile, the first communication unit 210 may have a function of receiving a signal from the folding vehicle 100.

On the other hand, an application for folding / unfolding is stored in the remote controller 200 configured as a smart device, and the vehicle 100 can be easily controlled through such an application. For example, when an application is executed, a GUI (Graphic User Interface) as shown in FIG. 9 is displayed on the screen of the remote controller 200, so that the folding / unfolding of the vehicle 100 can be easily controlled do. In addition, the success of collapse / unfolding can be checked on the screen.

The folding vehicle 100 may include a second communication unit 150 for communicating with the remote controller 200 and a controller 160 for controlling the folding / unfolding operation of the vehicle 100.

The second communication unit 150 is configured to perform wireless communication with the first communication unit 210. The second communication unit 150 receives a signal transmitted from the first communication unit 210 and transmits a signal to the first communication unit 210 as the case may be . Here, the first and second communication units 210 and 150 may communicate with each other using various wireless communication methods such as WIFI, bluetooth, 3G, and LTE.

The control unit 160 receives the signal received through the second communication unit 150 and controls the driving unit 170 in response to the received signal. Here, the driving device 170 may include an in-wheel motor or an actuator (see 300 in FIG. 7) mounted to the wheel, and may further include a lock driving device for driving the locking pin (see 133 in FIG. 3).

As the in-wheel motor is driven, the front wheel (see 120a in FIG. 1) and / or the rear wheel (see 120b in FIG. 1) may be rotated to reduce or expand the area by folding and unfolding the vehicle 100.

Similarly, as the actuator 300 is driven, the area of the vehicle 100 can be reduced or expanded by folding and unfolding the vehicle 100.

The controller 160 may include a plurality of electronic components, for example, a microcontroller and a drive controller.

The microcontroller communicates with the remote controller 200 through the second communication unit 150, receives the command signal, processes the command signal, and outputs the control signal. The drive controller may output the drive control signal to the drive device 170 in response to the control signal output from the microcontroller.

On the other hand, the drive controller receives the vehicle periphery information and can determine whether the drive device 170 is driven based on such information. In this regard, the folding vehicle 100 may be provided with a camera sensor 180 for monitoring the surrounding situation. In such a case, the vehicle periphery information collected through the camera sensor 180 may be transmitted to the drive controller .

Through the vehicle surrounding information transmitted as described above, the driving controller can determine whether a space for folding or unfolding the vehicle is secured. Accordingly, it is determined whether a space corresponding to the folding or unfolding command is secured through the vehicle periphery information. If the space is sufficient, the driving apparatus 170 is driven. If the space is not sufficient, the driving apparatus 170 It is not driven.

On the other hand, the above-mentioned microcontroller and drive controller can communicate with each other through a vehicle communication system composed of, for example, a multiplexer, a bus and a demux. But is not limited thereto.

Hereinafter, a method of controlling a folding vehicle according to an embodiment of the present invention will be described in detail with reference to FIG.

First, a fold / unfold command selected by the user is transmitted from the remote controller 200 to the controller 160 of the vehicle 100 (st1). This is performed through the first and second communication units 210 and 150.

Next, the controller 160 collects information about the surrounding environment of the vehicle by using the camera sensor 180 and determines whether sufficient space for the folding / unfolding command is secured (st2).

If it is determined that the space is insufficient, the controller 160 transmits an error message to the remote controller 200. In this case, the control unit 160 does not perform the control operation related to the folding / unfolding command.

On the other hand, if it is determined that space is sufficient, the operation corresponding to the folding / unfolding command is performed. On the other hand, whether or not to perform the fold / unfold command is related to the current vehicle condition, that is, the folded / unfolded state. That is, the vehicle condition can be checked, and it can be determined whether or not the command is executed.

In this case, if the command is a collision command, the control unit 160 checks whether the vehicle is in a folded state or a folded state (st3). Here, when the vehicle state is in the unfolded state, the folding operation is performed in accordance with the folding command, and the vehicle 100 is converted into the folded state (st4). In such a case, the control unit 160 may transmit a success message to the remote controller 200. [ On the other hand, when the vehicle state is in the collapsed state, the collision command can not be performed, and thus the controller 160 transmits an error message to the remote controller 200.

If the command is a push-up command, the control unit 160 checks whether the vehicle is in the opened state or the folded state (st5). Here, if the vehicle state is in the collapsed state, the push-up operation is performed in accordance with the push-up command, so that the vehicle 100 is converted into the unfolded state (st6). In such a case, the control unit 160 may transmit a success message to the remote controller 200. [ On the other hand, when the vehicle is in the unfolded state, the control unit 160 transmits an error message to the remote controller 200 because the unfolding command can not be executed.

Through the above-described process, it is possible to control the folding vehicle according to the embodiment of the present invention.

On the other hand, as the vehicle according to the embodiment of the present invention described above, an electric vehicle using electricity is preferable, but the present invention is not limited thereto. For example, all kinds of vehicles such as vehicles using fuel such as gasoline, hybrid vehicles, and the like can be used.

The embodiment of the present invention described above is an example of the present invention, and variations are possible within the spirit of the present invention. Accordingly, the invention includes modifications of the invention within the scope of the appended claims and equivalents thereof.

100: Folding vehicle 110: Body
120: wheel 120a: front wheel
120b: rear wheel 130: first frame
140: Second frame

Claims (14)

A first frame on which a front wheel is mounted;
A second frame mounted with a rear wheel and coupled to the first frame by a hinge structure;
A control unit for controlling the movement of at least one of the first and second frames according to a collision command or a push-up command transmitted from a remote controller to convert the vehicle into a folded state or a unfolded state;
And a camera sensor for collecting surrounding situation information of the vehicle and transmitting the information to the control unit,
The control unit determines whether a space for performing the folding command or the expanding command is secured based on the surrounding information transmitted from the camera sensor. If it is determined that the space is secured, the controller performs a control operation corresponding to the folding command or the expanding command Perform
Folding vehicle.
The method of claim 1,
An in-wheel motor mounted on at least one of the front and rear wheels for driving at least one of the front and rear wheels,
. ≪ / RTI >
The method of claim 1,
Actuator having a piston rod that connects the first and second frames, the contracting / expanding operation
. ≪ / RTI >
The method of claim 1,
It is configured on the top of one of the first and second frame, the prevention jaw to prevent the first and second frame is folded downward
Folding vehicle comprising a.
The method of claim 1,
A locking pin mounted to one of the first and second frames;
Lock hole is formed in the other one of the first and second frame, the locking pin is inserted
Folding vehicle comprising a.
delete delete A control method for a folding vehicle,
A control unit of the folding vehicle receiving a fold command or a push-up command;
Controlling, by the controller, the folding vehicle to be in a folded state by moving the first and second frames, each of which is equipped with a front wheel and a rear wheel, in a hinge structure, so as to be close to each other in response to the folding command;
And controlling, by the controller, the first and second frames to move away from each other in response to the unfolding command so that the foldable vehicle has an unfolded state.
The control unit receives the surrounding situation information of the folding vehicle from the camera sensor and determines whether a space for carrying out the folding command or the unfolding command is secured based on the transmitted peripheral condition information. If it is determined that the space is secured And performs a control operation corresponding to the fold command or the up command
A method of controlling a folding vehicle.
delete delete The method of claim 8,
The fold command or the up command is transmitted from the remote controller
A method of controlling a folding vehicle.
The method of claim 11,
And transmitting an error message to the remote controller when the state of the folding vehicle in the folding instruction is in a collapsed state and when the state of the folding vehicle in a state in which the folding vehicle is extended in the collapsing instruction
A method of controlling a folding vehicle.
The method of claim 8,
By using the in-wheel motor mounted to at least one of the front wheel and the rear wheel, the foldable vehicle to have a folded or unfolded state
A method of controlling a folding vehicle.
The method of claim 8,
By using an actuator having a piston rod that connects the first and second frames and performs a contraction / expansion operation, the folding vehicle has a folded state or an extended state.
A method of controlling a folding vehicle.

Images